CN107510577B - A kind of lower limbs rehabilitation training robot and its training method - Google Patents
A kind of lower limbs rehabilitation training robot and its training method Download PDFInfo
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- CN107510577B CN107510577B CN201710906185.6A CN201710906185A CN107510577B CN 107510577 B CN107510577 B CN 107510577B CN 201710906185 A CN201710906185 A CN 201710906185A CN 107510577 B CN107510577 B CN 107510577B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title abstract description 6
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 58
- 210000000689 upper leg Anatomy 0.000 claims abstract description 16
- 238000010438 heat treatment Methods 0.000 claims abstract description 9
- 239000000523 sample Substances 0.000 claims description 16
- 210000003423 ankle Anatomy 0.000 claims description 9
- 239000004816 latex Substances 0.000 claims description 3
- 229920000126 latex Polymers 0.000 claims description 3
- 229910045601 alloy Inorganic materials 0.000 description 8
- 239000000956 alloy Substances 0.000 description 8
- 238000011084 recovery Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
- A61H2201/0207—Characteristics of apparatus not provided for in the preceding codes heated or cooled heated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of lower limbs rehabilitation training robot and its training method, including workbench, lying board, footmuff, V-type air bag, air pump and control device, it is provided with telescopic rod between the workbench and lying board, the workbench and lying board are fixedly connected with telescopic rod, the shape memory alloy strip in I types for lifting thigh is provided on the workbench, described shape memory alloy strip one end is flexibly connected with workbench, it is provided with connecting tube and heating wire in the shape memory alloy strip, the shape memory alloy strip other end is provided with the hoop body for waling thigh, the footmuff side is provided with magic notice patch, V-type air bag side is provided with pastes the velcro female patch to match with magic notice, the V-type air bag is connected with air inlet pipe and exhaust pipe, the connecting tube and air inlet pipe are connect with the exhaust nozzle of air pump；The lower limbs rehabilitation training robot driving structure is simple.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of lower limbs rehabilitation training robot and its training method.
Background technology
Medical instrument refers to instrument, equipment, utensil, external diagnosis reagent and the calibration for being directly or indirectly used for human body
Object, material and other similar or relevant articles, including required computer software.
Robot has begun in terms of being applied to medical treatment at present, especially the robot of physics auxiliary rehabilitation exercise, uses
Has more example, the robot of current physics auxiliary rehabilitation exercise generally uses steering engine, motor and cooperation rope and tooth
The driving arm such as wheel carries out rehabilitation training, but existing drives lower limb using steering engine, motor and cooperation rope and gear etc.
The driving structure of robot is complicated, it is difficult to the needs of meeting in the market.
Invention content
The technical problem to be solved in the present invention is to provide a kind of simple lower limbs rehabilitation training robots of driving structure.
To solve the above problems, the present invention adopts the following technical scheme that：
A kind of lower limbs rehabilitation training robot, including workbench, lying board, footmuff, V-type air bag, air pump and control device, institute
It states and is provided with telescopic rod between workbench and lying board, the workbench and lying board are fixedly connected with telescopic rod, the workbench
On be provided with the shape memory alloy strip in I types for lifting thigh, described shape memory alloy strip one end is lived with workbench
It is dynamic to connect, connecting tube and heating wire, the shape memory alloy strip other end setting are provided in the shape memory alloy strip
It is useful for waling the hoop body of thigh, the footmuff side is provided with magic notice patch, and V-type air bag side is provided with and magic
The velcro female patch that matches is pasted by notice, and the V-type air bag is connected with air inlet pipe and exhaust pipe, the connecting tube and air inlet pipe with
The exhaust nozzle of air pump connects, and is both provided with solenoid valve in the connecting tube, exhaust pipe and air inlet pipe, is provided on the workbench
First steering engine and the second steering engine, are provided with clicking section on the shape memory alloy strip, first steering engine and the second steering engine
Be respectively arranged with the first plectrum and the second plectrum in shaft, the air pump, solenoid valve, the first steering engine and the second steering engine with control
Device is electrically connected.
Preferably, the footmuff and the patch suture of magic notice, the V-type air bag are bonded with velcro female patch, velcro
Son patch and velcro female patch are not easily to fall off.
Preferably, being provided with connecting plate on the workbench, universal joint, the shape note are connected on the connecting plate
Recall alloy bar to be threadedly coupled with universal joint, shape memory alloy strip dismounting is simple, and stable connection can facilitate staff more
It changes.
Preferably, being provided with heat probe on the connecting plate, the heat probe is electrically connected with control device, by setting
It is equipped with the temperature of heat probe monitoring shape memory alloy strip, shape memory alloy strip overheat is can effectively prevent and causes to use
Person is uncomfortable.
Preferably, being provided with one-way wheel on the footmuff, it is provided with sub-buckle on the one-way wheel, is arranged on the footmuff
There are female thread, the one-way wheel to be located at ankle, by being provided with one-way wheel on footmuff, can effectively prevent the foot in training
Ankle is frayed, and one-way wheel is convenient for disassembly and assembly.
Preferably, being provided with baroceptor in the V-type air bag, the baroceptor electrically connects with control device
It connects, by being provided with baroceptor in V-type air bag, baroceptor can be detected the air pressure in V-type air bag, and one
Denier reaches setting value Feedback to control device, prevents V-type air bag from being supportted quick-fried.
Preferably, be inlaid with pressure sensor on first plectrum and the second plectrum, by the first plectrum and
It is inlaid with pressure sensor on second plectrum, when shape memory alloy strip touches pressure sensor, pressure sensor can
To feed back information to control device, control device is facilitated to control the first steering engine and the work of the second steering engine in time.
Preferably, being provided with latex mattress above the lying board.
Another technical problem to be solved by the present invention is that a kind of training method of lower limbs rehabilitation training robot is provided, it is special
Sign is：
1）First by patient setup on lying board, the distance between workbench and lying board are adjusted, footmuff is then sleeved on needs
Trained lower limb, are used in combination hoop body to wale lower limb；
2）Control device controls heating of the heating wire to the shape memory alloy strip in I types so that is in the shape memory of I types
Alloy bar becomes V-type, while air pump is inflated in V-type air bag so that thigh lifts and shank is drawn close toward thigh；
3）After shape memory alloy strip reverts to V-type, control device controls the first steering engine and the second servo driving shape
Memory alloy bands move each swing of thigh or so once, are then cooled down to shape memory alloy strip using air pump so that shape
Shape memory alloys item reverts to I types, while releasing the gas in V-type air bag so that lower limb revert to straight state, complete instruction
Practice.
Beneficial effects of the present invention are：Compared with traditional recovery exercising robot, by using V-type air bag and shape
Memorial alloy item drives lower limb, does not use gear and rope, drives the structure of lower limb simple, in addition, footmuff and velcro
Son patch suture, V-type air bag are bonded with velcro female patch, and magic notice patch and velcro female patch are not easily to fall off.It is arranged on workbench
There is connecting plate, universal joint is connected on connecting plate, shape memory alloy strip is threadedly coupled with universal joint, shape memory alloy strip
Dismounting is simple, and stable connection can facilitate staff to replace.Heat probe, heat probe and shape memory are provided on workbench
Alloy bar is electrically connected in face of setting, heat probe with control device, and shape memory alloy strip is monitored by being provided with heat probe
Temperature can effectively prevent shape memory alloy strip overheat and cause user uncomfortable.One-way wheel is provided on footmuff, unidirectionally
It is provided with sub-buckle on wheel, female thread is provided on footmuff, one-way wheel is located at ankle, can by being provided with one-way wheel on footmuff
Effectively to prevent the ankle in training from being frayed, and one-way wheel is convenient for disassembly and assembly.It is provided with baroceptor in V-type air bag,
Baroceptor is electrically connected with control device, and by being provided with baroceptor in V-type air bag, baroceptor can be right
Air pressure in V-type air bag is detected, once reaching setting value Feedback to control device, prevents V-type air bag from being supportted quick-fried.The
It is inlaid with pressure sensor on one plectrum and the second plectrum, is passed by being inlaid with pressure on the first plectrum and the second plectrum
Sensor, when shape memory alloy strip touches pressure sensor, pressure sensor can feed back information to control device, side
Just control device the first steering engine of control and the work of the second steering engine in time.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of overall structure diagram of lower limbs rehabilitation training robot of the present invention；
Fig. 2 is a kind of sectional view of the shape memory alloy strip of lower limbs rehabilitation training robot of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment 1
As shown in Figs. 1-2, a kind of lower limbs rehabilitation training robot, including workbench 1, lying board 2, footmuff 3, V-type air bag 4,
Air pump 5 and control device 6, are provided with telescopic rod 7 between the workbench 1 and lying board 2, the workbench 1 and lying board 2 with stretch
Contracting bar 7 is threadedly coupled, and the shape memory alloy strip 8 in I types for lifting thigh, the shape are provided on the workbench 1
8 one end of shape memory alloys item is flexibly connected with workbench 1, and connecting tube 9 and heating wire are provided in the shape memory alloy strip 8
10,8 other end of the shape memory alloy strip is provided with the hoop body 11 for waling thigh, and 3 side of the footmuff is provided with evil spirit
Art notice pastes（It is not shown）, 4 side of V-type air bag is provided with pastes the velcro female patch to match with magic notice（Do not scheme
Show）, the V-type air bag 4 is connected with air inlet pipe 12 and exhaust pipe 13, the exhaust nozzle of the connecting tube 9 and air inlet pipe 12 with air pump 5
It connects, is both provided with solenoid valve 14 in the connecting tube 9, exhaust pipe 13 and air inlet pipe 12, first is provided on the workbench 1
Steering engine 15 and the second steering engine（It is not shown）, clicking section 16,15 He of the first steering engine are provided on the shape memory alloy strip
The first plectrum 17 and the second plectrum are respectively arranged in the shaft of second steering engine（It is not shown）, the air pump 5, solenoid valve 14,
One steering engine 15 and the second steering engine are electrically connected with control device 6.Compared with traditional recovery exercising robot, by using
V-type air bag 4 and shape memory alloy strip 8 drive lower limb, do not use gear and rope, drive the structure of lower limb simple.
Beneficial effects of the present invention are：Compared with traditional recovery exercising robot, by using V-type air bag and shape
Memorial alloy item drives lower limb, does not use gear and rope, drives the structure of lower limb simple.
Embodiment 2
As shown in Figs. 1-2, a kind of lower limbs rehabilitation training robot, including workbench 1, lying board 2, footmuff 3, V-type air bag 4,
Air pump 5 and control device 6, are provided with telescopic rod 7 between the workbench 1 and lying board 2, the workbench 1 and lying board 2 with stretch
Contracting bar 7 is fixedly connected, and the shape memory alloy strip 8 in I types for lifting thigh, the shape are provided on the workbench 1
8 one end of shape memory alloys item is flexibly connected with workbench 1, and connecting tube 9 and heating wire are provided in the shape memory alloy strip 8
10,8 other end of the shape memory alloy strip is provided with the hoop body 11 for waling thigh, and 3 side of the footmuff is provided with evil spirit
Art notice pastes（It is not shown）, 4 side of V-type air bag is provided with pastes the velcro female patch to match with magic notice（Do not scheme
Show）, the V-type air bag 4 is connected with air inlet pipe 12 and exhaust pipe 13, the exhaust nozzle of the connecting tube 9 and air inlet pipe 12 with air pump 5
It connects, is both provided with solenoid valve 14 in the connecting tube 9, exhaust pipe 13 and air inlet pipe 12, first is provided on the workbench 1
Steering engine 15 and the second steering engine（It is not shown）, clicking section 16,15 He of the first steering engine are provided on the shape memory alloy strip
The first plectrum 17 and the second plectrum are respectively arranged in the shaft of second steering engine（It is not shown）, the air pump 5, solenoid valve 14,
One steering engine 15 and the second steering engine are electrically connected with control device 6.The footmuff 3 and the patch suture of magic notice, the V-type air bag
4 bond with velcro female patch, and magic notice patch and velcro female patch are not easily to fall off.Connecting plate 18 is provided on the workbench 1,
Universal joint 19 is connected on the connecting plate 18, the shape memory alloy strip 8 is threadedly coupled with universal joint 19, the shape
Memorial alloy item 8 and workbench 1 are flexibly connected by universal joint 19, and shape memory alloy strip 8 dismounts simply, stable connection,
Staff can be facilitated to replace.Heat probe 20 is provided on the connecting plate 18, the heat probe 20 is electrical with control device 6
Connection monitors the temperature of shape memory alloy strip 8 by being provided with heat probe 20, can effectively prevent shape memory alloy strip
8 overheat and cause user uncomfortable.It is provided with one-way wheel 21 on the footmuff 3, sub-buckle is provided on the one-way wheel 21（Do not scheme
Show）, female thread is provided on the footmuff 3（It is not shown）, the one-way wheel 21 is located at ankle, by being provided on footmuff 3
One-way wheel 21 can effectively prevent the ankle in training and be frayed, and one-way wheel 21 is convenient for disassembly and assembly.In the V-type air bag 4
It is provided with baroceptor（It is not shown）, the baroceptor is electrically connected with control device 6, by being set in V-type air bag 4
It is equipped with baroceptor, baroceptor can be detected the air pressure in V-type air bag 4, once it is at once anti-to reach setting value
It feeds control device 6, prevents V-type air bag from being supportted quick-fried.It is inlaid with pressure sensor on first plectrum, 17 and second plectrum
（It is not shown）, by being inlaid with pressure sensor on the first plectrum 17 and the second plectrum, when shape memory alloy strip 8 contacts
When to pressure sensor, pressure sensor can feed back information to control device 6, facilitate the control first in time of control device 6
Steering engine 15 and the work of the second steering engine.The lying board 2 is provided with latex mattress 22 above.Compared with traditional recovery exercising robot,
Lower limb are driven by using V-type air bag 4 and shape memory alloy strip 8, gear and rope is not used, drives the knot of lower limb
Structure is simple.
Beneficial effects of the present invention are：Compared with traditional recovery exercising robot, by using V-type air bag and shape
Memorial alloy item drives lower limb, does not use gear and rope, drives the structure of lower limb simple, footmuff and magic notice patch seam
It closes, V-type air bag is bonded with velcro female patch, and magic notice patch and velcro female patch are not easily to fall off.Connection is provided on workbench
Plate is connected with universal joint on connecting plate, and shape memory alloy strip is threadedly coupled with universal joint, shape memory alloy strip dismounting letter
Single, stable connection can facilitate staff to replace.Heat probe, heat probe and shape memory alloy strip are provided on workbench
In face of setting, heat probe is electrically connected with control device, and the temperature of shape memory alloy strip is monitored by being provided with heat probe, can
Cause user uncomfortable effectively to prevent shape memory alloy strip from overheating.It is provided with one-way wheel on footmuff, is set on one-way wheel
It is equipped with sub-buckle, female thread is provided on footmuff, one-way wheel is located at ankle, can be effective by being provided with one-way wheel on footmuff
Prevent the ankle in training from being frayed, and one-way wheel is convenient for disassembly and assembly.Baroceptor, air pressure transmission are provided in V-type air bag
Sensor is electrically connected with control device, and by being provided with baroceptor in V-type air bag, baroceptor can be to V-type gas
Intracapsular air pressure is detected, once reaching setting value Feedback to control device, prevents V-type air bag from being supportted quick-fried.First group
It is inlaid with pressure sensor on piece and the second plectrum, by being inlaid with pressure sensing on the first plectrum and the second plectrum
Device, when shape memory alloy strip touches pressure sensor, pressure sensor can feed back information to control device, convenient
Control device the first steering engine of control and the work of the second steering engine in time.
Another technical problem to be solved by the present invention is that a kind of training method of lower limbs rehabilitation training robot is provided, it is special
Sign is：
1）First by patient setup on lying board, the distance between workbench and lying board are adjusted, footmuff is then sleeved on needs
Trained lower limb, are used in combination hoop body to wale lower limb；
2）Control device controls heating of the heating wire to the shape memory alloy strip in I types so that is in the shape memory of I types
Alloy bar becomes V-type, while air pump is inflated in V-type air bag so that thigh lifts and shank is drawn close toward thigh；
3）After shape memory alloy strip reverts to V-type, control device controls the first steering engine and the second servo driving shape
Memory alloy bands move each swing of thigh or so once, are then cooled down to shape memory alloy strip using air pump so that shape
Shape memory alloys item reverts to I types, while releasing the gas in V-type air bag so that lower limb revert to straight state, complete instruction
Practice.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The change or replacement expected without creative work, should be covered by the protection scope of the present invention.
Claims (1)
1. a kind of lower limbs rehabilitation training robot, it is characterised in that：Including workbench, lying board, footmuff, V-type air bag, air pump and control
Device processed is provided with telescopic rod between the workbench and lying board, the workbench and lying board are fixedly connected with telescopic rod, institute
The shape memory alloy strip being provided on workbench for lifting thigh is stated, described shape memory alloy strip one end is lived with workbench
It is dynamic to connect, connecting tube and heating wire, the shape memory alloy strip other end setting are provided in the shape memory alloy strip
It is useful for waling the hoop body of thigh, the footmuff side is provided with magic notice patch, and V-type air bag side is provided with and magic
The velcro female patch that matches is pasted by notice, and the V-type air bag is connected with air inlet pipe and exhaust pipe, the connecting tube and air inlet pipe with
The exhaust nozzle of air pump connects, and is both provided with solenoid valve in the connecting tube, exhaust pipe and air inlet pipe, is provided on the workbench
First steering engine and the second steering engine, are provided with clicking section on the shape memory alloy strip, first steering engine and the second steering engine
Be respectively arranged with the first plectrum and the second plectrum in shaft, the air pump, solenoid valve, the first steering engine and the second steering engine with control
Device is electrically connected, and the footmuff is bonded with the patch suture of magic notice, the V-type air bag with velcro female patch, the workbench
On be provided with connecting plate, universal joint is connected on the connecting plate, the shape memory alloy strip is threadedly coupled with universal joint,
Heat probe is provided on the connecting plate, the heat probe is electrically connected with control device, and one-way wheel is provided on the footmuff,
It is provided with sub-buckle on the one-way wheel, female thread is provided on the footmuff, the one-way wheel is located at ankle, the V-type air bag
It is inside provided with baroceptor, the baroceptor is electrically connected with control device, on first plectrum and the second plectrum
It is inlaid with pressure sensor, latex mattress is provided with above the lying board.
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| CN201710906185.6A CN107510577B (en) | 2017-09-29 | 2017-09-29 | A kind of lower limbs rehabilitation training robot and its training method |
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| CN201710906185.6A CN107510577B (en) | 2017-09-29 | 2017-09-29 | A kind of lower limbs rehabilitation training robot and its training method |
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| CN107510577A CN107510577A (en) | 2017-12-26 |
| CN107510577B true CN107510577B (en) | 2018-08-24 |
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| CN108743211A (en) * | 2018-07-03 | 2018-11-06 | 南通百佳医疗器械研究有限公司 | A kind of person in middle and old age's fracture training aids |
| CN111481305B (en) * | 2020-04-21 | 2022-05-06 | 朱凤堂 | Shank mounting fixture for bone surgery |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20090038904A (en) * | 2006-08-17 | 2009-04-21 | 코닌클리케 필립스 일렉트로닉스 엔.브이. | Pressure actuator and methods for applying pressure |
| US20110160625A1 (en) * | 2009-12-28 | 2011-06-30 | Nikolay Yefimov | Apparatus and method for training knee and hip joints of a patient in post-traumatic or post-operative period |
| US9474675B2 (en) * | 2013-12-02 | 2016-10-25 | Erik M. Hansen | Knee rehabilitation apparatus |
| CN205795994U (en) * | 2016-04-21 | 2016-12-14 | 泰山医学院 | A kind of Multifunctional lower limb rehabilitation telecontrol equipment |
| CN206198243U (en) * | 2016-05-26 | 2017-05-31 | 深圳市前海康启源科技有限公司 | Human body lower limbs device for healing and training |
| CN106109180A (en) * | 2016-09-09 | 2016-11-16 | 航天恒星科技有限公司 | A kind of rehabilitation training apparatus |
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2017
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Effective date of registration: 20191129 Address after: Magi Road, Changshu high tech Industrial Development Zone, Suzhou City, Jiangsu Province, No. 1 215500 Patentee after: Suzhou Hui Xin bang Mstar Technology Ltd Address before: 211100 Jiangsu City, Jiangning, Qilin District, science and Technology Innovation Park, Hui Chi Road, unit B, building 300, building two Patentee before: Nanjing Yusheng Robot Technology Co., Ltd. |
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Effective date of registration: 20201124 Address after: 215500 Changshu High-tech Industrial Development Zone, Suzhou City, Jiangsu Province Patentee after: Changshu Feimeng Information Technology Co.,Ltd. Address before: Magi Road, Changshu high tech Industrial Development Zone, Suzhou City, Jiangsu Province, No. 1 215500 Patentee before: SUZHOU JUHUIBANG NEW MATERIAL TECHNOLOGY Co.,Ltd. |